CN111148608A - 用于机器人末端执行器的结构 - Google Patents

用于机器人末端执行器的结构 Download PDF

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Publication number
CN111148608A
CN111148608A CN201880029417.7A CN201880029417A CN111148608A CN 111148608 A CN111148608 A CN 111148608A CN 201880029417 A CN201880029417 A CN 201880029417A CN 111148608 A CN111148608 A CN 111148608A
Authority
CN
China
Prior art keywords
actuator
robotic
target object
actuators
augmentation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201880029417.7A
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English (en)
Chinese (zh)
Inventor
J·柯尔汉
T·沃默斯利
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Soft Robotics Inc
Original Assignee
Soft Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Soft Robotics Inc filed Critical Soft Robotics Inc
Publication of CN111148608A publication Critical patent/CN111148608A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/36—Actuating means
    • Y10S901/37—Fluid motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201880029417.7A 2017-05-01 2018-04-30 用于机器人末端执行器的结构 Pending CN111148608A (zh)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US201762492627P 2017-05-01 2017-05-01
US62/492627 2017-05-01
US201862643859P 2018-03-16 2018-03-16
US62/643859 2018-03-16
US201862644690P 2018-03-19 2018-03-19
US62/644690 2018-03-19
PCT/US2018/030260 WO2018204275A1 (en) 2017-05-01 2018-04-30 Structure for a robotic end effector

Publications (1)

Publication Number Publication Date
CN111148608A true CN111148608A (zh) 2020-05-12

Family

ID=62223240

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880029417.7A Pending CN111148608A (zh) 2017-05-01 2018-04-30 用于机器人末端执行器的结构

Country Status (5)

Country Link
US (2) US10668629B2 (de)
EP (1) EP3619007B1 (de)
JP (1) JP7278597B2 (de)
CN (1) CN111148608A (de)
WO (1) WO2018204275A1 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017177126A1 (en) * 2016-04-07 2017-10-12 Soft Robotics, Inc. Soft robotic actuators for positioning, packaging, and assembling
DE102017206652A1 (de) * 2017-04-20 2018-10-25 Kuka Deutschland Gmbh Robotergreifer zum Handhaben von Objekten, insbesondere Behältern
JP7278597B2 (ja) * 2017-05-01 2023-05-22 ソフト ロボティクス， インコーポレイテッド ロボットエンドエフェクタのための構造
US10556338B1 (en) * 2017-07-31 2020-02-11 Amazon Technologies, Inc. Compliant finger tip for item manipulation
JP6680757B2 (ja) * 2017-12-28 2020-04-15 ファナック株式会社 把持用ハンド
DE102018132888A1 (de) * 2018-12-19 2020-06-25 Martin Bergmann Greifvorrichtung
DE102019112125A1 (de) * 2019-05-09 2020-11-12 Hohe Tanne Gmbh Greifervorrichtung
US11938630B2 (en) 2019-08-30 2024-03-26 Universal City Studios Llc Edible soft robotic systems and methods
JP2023090518A (ja) * 2021-12-17 2023-06-29 株式会社ブリヂストン 把持装置
JP2023091339A (ja) * 2021-12-20 2023-06-30 株式会社ブリヂストン 把持装置
CN114310652A (zh) * 2021-12-30 2022-04-12 金陵科技学院 一种软脆材料柔性研磨装置
ES2977940A1 (es) 2023-01-23 2024-09-03 Consejo Superior Investigacion Garra robotica para agarre y manipulacion

Citations (7)

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JPS5477954A (en) * 1977-10-20 1979-06-21 Ici Ltd Industrial manipulator with 5 degree of freedom and method of arranging article by said manipulator
JP2007516854A (ja) * 2003-12-30 2007-06-28 ストライダー ラブス，インコーポレイテッド 伸縮式の手のひらを有するロボットハンド
EP1974872A1 (de) * 2005-12-13 2008-10-01 Honda Motor Co., Ltd Handvorrichtung
CN101500764A (zh) * 2006-11-24 2009-08-05 松下电器产业株式会社 多指机器手
JP2013166215A (ja) * 2012-02-16 2013-08-29 Seiko Epson Corp ロボットハンド、およびロボット
CN105818143A (zh) * 2016-05-26 2016-08-03 南京理工大学 基于主动包络和被动塑形的柔性多臂气动夹持器
US20170028566A1 (en) * 2015-07-30 2017-02-02 Ryan KNOPF Self-contained robotic gripper system

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US3343864A (en) * 1965-10-07 1967-09-26 James I Baer Material handling apparatus and the like
US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
GB1465210A (en) * 1974-11-19 1977-02-23 Prvni Brnenska Strojirna Handling device for pulling tubes on mandrels of bending machines
JPS60252532A (ja) * 1984-05-25 1985-12-13 Matsushita Electric Works Ltd 物品移載用ハンド装置
IT1306514B1 (it) * 1998-08-05 2001-06-11 Vincenzo Arrichiello Dispositivo di attuazione a soffietto, specialmente per manipolatorerobotico, e metodo di azionamento di detto dispositivo.
NO20011324L (no) * 2001-03-15 2002-09-16 Maritime Hydraulics As Gripeklo for rörvarer
JP4215725B2 (ja) 2005-01-25 2009-01-28 株式会社クボタ 球状農作物の把持機構
WO2008062625A1 (fr) * 2006-11-24 2008-05-29 Panasonic Corporation Main de robot à doigts multiples
US8317241B2 (en) 2009-02-06 2012-11-27 Dean Ehnes Harsh environment robot end effector
JP5679711B2 (ja) * 2010-07-06 2015-03-04 キヤノン株式会社 ロボットシステム及び把持方法
US8950795B2 (en) * 2013-04-16 2015-02-10 Raytheon Company Robotic grabber and method of use
AU2014329788B2 (en) * 2013-10-01 2020-02-06 President And Fellows Of Harvard College Manufacturing soft devices out of sheet materials
DE102015218523B4 (de) * 2015-09-25 2021-04-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greifvorrichtung
JP7278597B2 (ja) * 2017-05-01 2023-05-22 ソフト ロボティクス， インコーポレイテッド ロボットエンドエフェクタのための構造

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5477954A (en) * 1977-10-20 1979-06-21 Ici Ltd Industrial manipulator with 5 degree of freedom and method of arranging article by said manipulator
JP2007516854A (ja) * 2003-12-30 2007-06-28 ストライダー ラブス，インコーポレイテッド 伸縮式の手のひらを有するロボットハンド
EP1974872A1 (de) * 2005-12-13 2008-10-01 Honda Motor Co., Ltd Handvorrichtung
CN101500764A (zh) * 2006-11-24 2009-08-05 松下电器产业株式会社 多指机器手
JP2013166215A (ja) * 2012-02-16 2013-08-29 Seiko Epson Corp ロボットハンド、およびロボット
US20170028566A1 (en) * 2015-07-30 2017-02-02 Ryan KNOPF Self-contained robotic gripper system
CN105818143A (zh) * 2016-05-26 2016-08-03 南京理工大学 基于主动包络和被动塑形的柔性多臂气动夹持器

Also Published As

Publication number Publication date
JP7278597B2 (ja) 2023-05-22
US10668629B2 (en) 2020-06-02
EP3619007B1 (de) 2024-08-28
US20200391391A1 (en) 2020-12-17
EP3619007A1 (de) 2020-03-11
WO2018204275A1 (en) 2018-11-08
JP2020518478A (ja) 2020-06-25
US11220012B2 (en) 2022-01-11
US20180311829A1 (en) 2018-11-01

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